Packing station and method for automated loading of piece goods on a load carrier including subsequent foil wrapping

ABSTRACT

An automated packing station for automated loading of load carriers with piece goods and for automated wrapping a stack with a foil, comprising: a fixedly arranged packing robot; and a rotational-arm winding device arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil, and to forward the forces to an environment of the packing station.

RELATED APPLICATIONS

This is a continuation application of the co-pending international patent application WO 2011/141556 A2 (PCT/EP2011/057713) filed on May 12, 2011 and claiming priority of the German patent application DE 10 2010 020 998.2 filed on May 12, 2010, which are incorporated fully herewith by reference.

BACKGROUND OF THE INVENTION

The present invention relates to an automated packing station as well as a method for automated loading of load carriers with piece goods forming, in a loaded state of the load carrier, a stack thereon, and for automated wrapping the stack with a foil.

RELATED PRIOR ART

Winding devices (wrappers) have been used long since in the field of order picking. Substantially there are three types of winding systems which can be divided roughly into semi-automated and fully-automated systems. Typification happens substantially dependent on performance.

A first type of winding machines can wrap up to 35 load carriers (Euro-pool pallets, rolling containers, etc.) each hour, or the piece goods stacked thereon, with a stretchable foil which preferably is heat-weldable. This first type is mainly operated semi-automated, i.e., the load carriers which are to be wrapped are transported manually to a fixedly predefined wrapping position, set down and subsequently wrapped fully-automated with the foil by a winding device. For this purpose, the winding device typically comprises a rigid mast being aligned vertically and having a rigid boom which is oriented in a horizontal direction. A rotational arm having a height-adjustable winding head is arranged beneath the boom. The rotational arm is supported rotatably in the boom. Such arrangement allows the winding head to circulate around the load carrier so that, if the height of the winding head changes during the circulation, the stack is wrapped completely with the foil. Winding devices of the first type are offered, for example, by the companies SIGNODE®; WULFTEC® and STREMA®.

With an alternative embodiment of the first type the load carrier is put on a rotating table, and the winding head is only height-adjustable and rigid otherwise. For wrapping the load carrier, the rotating table is rotated and the winding head is merely moved in a height direction. In this case, the winding head does not move around the load carrier.

With a second type of winding devices having a rotational arm the frame, which is column-like, of the first type is replaced by a gate-like gantry having several legs. Typically, gantries have three to four vertical legs. Then the rotational arm having an integrated winding head is arranged rotatably beneath a horizontal transverse beam of the gantry. The second type is either operated in a semi-automated manner or in a fully-automated manner. With the fully-automated embodiment, a conveyor is led through the gantry, with which conveyor the to-be-wrapped load carriers are fed and transported away in an automated manner. In this manner, up to 60 load carriers each hour (for example Europool pallets) can be wrapped.

With a third type of winding devices, the rotational arm beneath the gantry is replaced by a stationary ring. The gantry of the standard embodiment of the third type is provided with a lifting drive which causes the winding ring to travel up and down corresponding to a height of one pallet, wherein the winding unit in the ring rotates around the pallet and thus generates the ascending and descending wrapping. The pallet needs to be driven into the winding device for the purpose of wrapping. With another variation of the third type, the winding ring is installed fixedly beneath a working platform. In this case, the pallet is lifted or lowered through the ring. The winding head circles—rigid in height—around the load carrier while the load carrier is guided through the ring by means of a suitable lifting device. Up to 90 load carriers each hour (in particular Europool pallets) can be wrapped with the foil by means of the third type.

All of the three types have in common that the completely loaded load carriers need to be moved for being wrapped with the foil. Packing location and the winding location are different. The stacked piece goods can get out of place or already fall over during the transport of the completely loaded load carrier to the winding location before the stack is wrapped.

Further, valuable time is lost because the load carriers need to be moved between the packing location and the winding location. Typically, this movement occurs slowly for preventing the stacked piece goods from getting out of place.

The documents U.S. Pat. Nos. 5,873,214 and 4,995,224 disclose packing and winding stations in terms of the above-described types. The document U.S. Pat. No. 5,432,163 discloses a winding device of the first type. The packing and winding station of the document U.S. Pat. No. 5,873,214 is characterized in that a grab is used for packing a stack of piece goods on a pallet and for holding a winding head being provided in an isolated manner. The winding head is buffered in a periphery of an action space of the grab, and is taken by the grab, if required, and guided around the stack of piece goods. The grab comprises a frame having multiple legs, the frame comprising a ring. A linear guidance is supported rotatably in the ring. The guidance can be rotated in the ring. The drive frame of the grab is supported in a linear-movable manner on the guidance.

Wrapping at the packing location is not possible if packing robots (gantry robots, articulated-arm robots, etc.) are used. Packing robots require sufficiently large action spaces in which action spaces they need to be free to move without colliding with other machines. Therefore, the load carriers are transported from the packing location to the wrappers.

Winding devices in turn should be arranged relatively close to the load carriers which are to-be-wrapped, in order to allow the foil to be guided around the stack of piece goods with a sufficiently high force in a tight manner.

SUMMARY OF THE INVENTION

Therefore, it is an object of the present invention to provide an automated packing station and a method for automated loading and wrapping of load carriers, wherein performance of up to 50 load carriers each hour and more is obtained.

This object is solved by an automated packing station for automated loading of load carriers with piece goods which, in a loaded state of the load carrier, form a stack thereon, and for automated wrapping the stack with a foil, comprising: a fixedly arranged packing robot which loads the load carrier at a fixedly predefined packing position with piece goods, which are fed to the packing robot preferably via a piece-good conveyor, and which packing robot acts during the loading within an action space, which has to be free from other objects) for not disrupting automated loading movements of the packing robot and a rotational-arm winding device arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil, and to forward the forces to an environment of the packing station and on which frame a driven rotational arm is mounted rotationally such that a winding head which is connected rotatably to the rotational arm and can be adjusted vertically on a rotational mast rotates on a circular path in a height-adjustable manner around the stack which rests at the fixedly predefined packing position after the loading is completed; wherein the rotational-arm winding device is supported movably between a rest position outside of the action space and a winding position within the action space. According to another aspect of the invention an automated packing station for automated loading of load carriers with piece goods which, in a loaded state of the load carrier, form a stack thereon, and for automated wrapping the stack with a foil, comprises: a fixedly arranged packing robot serving a fixedly predefined packing position, which is configured to load the load carrier at the fixedly predefined packing position with the piece goods, and which packing robot has an environment and an action space in which the packing robot acts during the loading, wherein the action space is free from other objects in order not to disrupt automated loading movements of the packing robot; and a rotational-arm winding device comprising a driven rotational arm, a rotational mast and a winding head and being arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil and to forward the forces to the environment of the packing station and on which frame the driven rotational arm is supported rotatably such that the winding head, which is connected rotatably to the rotational arm and can be adjusted vertically on the rotational mast, rotates on a circular path in a height-adjustable manner around the stack which rests at the fixedly predefined packing position after the loading is completed; and a load-carrier conveyor for conveying empty or partially packed ones of the load carriers to the fixedly predefined packing position and for conveying the load carriers, holding wrapped stacks, away from the fixedly predefined packing position; wherein the rotational-arm winding device is supported movably between a rest position outside of the action space and a winding position within the action space, and wherein the frame is arranged stationary relative to the packing robot and comprises a stationary main mast and a pivotal arm which is supported rotatably on the stationary main mast, the stationary main mast having one leg, wherein the rotational arm is supported rotatably in the pivotal arm, wherein the pivotal arm is pivotable from a first position outside of the action space to a second position within the action space.

A movably supported rotational-arm winding device is provided beside the fixedly arranged packing robot, which winding device comprises preferably only one standing leg and is movable from a rest position outside the action space of the packing robot into a winding position within the action space of the packing robot, in order to avoid moving the load carrier after successful loading with the piece goods for the purpose of wrapping. While the packing robot loads the load carrier and forms the stack of piece goods thereon, the rotational-arm winding device is outside the action space of the packing robot. In this manner it is ensured that the packing robot has sufficient space for loading the load carrier without colliding with the winding device. If the packing robot has completed the stack formation, the packing robot is returned to its own rest position for providing space for the winding device. The rotational-arm winding device is then moved into the action space so that the rotational arm can rotate around the loaded load carrier with the winding head thereof. However, the loaded load carrier remains, during these processes, always at one and the same location, i.e. the load carrier is not moved. In this manner the present invention achieves both the automated performance of the packing process and the wrapping process without risking the integrity of the stack of piece goods.

In this case, the rotational-arm winding device of the present invention is sized and configured such that the winding head is as close as possible to the stack during the wrapping process. The closer the winding is relative to the stack, the smaller the deflections of the winding head are, which are caused by build-up during the wrapping process. This in turn reduces the need of space of the winding device. The winding device and the packing robot can then be arranged adjacent to each other in a closest space. The closer the packing robot is positioned to the winding device, the shorter the times are which are required for bringing the winding device into the action space of the packing robot. This is one reason for an increased throughput and the increased performance of the packing station of the present invention.

Another reason for the increased performance is to be seen in the solid construction of the frame. The frame is sized and configured such that great forces can be introduced into the frame and be forwarded to the environment of the packing station (ceiling, floor, wall, working platform, etc.). The great forces particularly occur when the winding head rotates fast around the stack. Typically, Europool pallets or rolling containers—in particular in the field of food retail/general retail—having a base area of, for example, 1,200×800 mm and a height of up to 2 meters are loaded with piece goods.

With a preferred embodiment the frame is arranged stationary relative to the packing robot and comprises a rotatable pivotal arm supported on a stationary, particularly single, main mast (standing leg) of the frame, in which pivotal arm the rotational arm is rotatably supported, wherein the pivotal arm can be pivoted from a first position outside the action space into a second position within the action space.

One possibility to move the rotational-arm winding device into the action space of the packing robots is to be seen in supporting pivotally a pivotal arm of the stationary arranged frame of the rotational-arm winding device. The pivotal arm is outside the action space in a first position. The pivotal arm is within the action space in a second position. The paths for moving-in the rotational-arm winding device are thus extremely short. The frame is installed fixedly and does not move. Consequently, the forces occurring during the wrapping process can be introduced simply and safely into the frame, and from there can be forwarded to the environment of the packing station. The stationary main mast of the frame can be formed with one leg and can be screwed fixedly, for example, to a floor of a hall. Of course, the frame can be fixed alternatively also to a wall or a ceiling of the hall or to a working platform.

Preferably, the pivotal arm comprises a pivotal boom, which is substantially oriented radially, and a pivotal mast, which is substantially oriented axially, wherein the pivotal mast is oriented parallel to the stationary main mast, and wherein the stationary main mast comprises a foot element, which is adapted to be connected fixedly to the environment of the packing station, and to forward into the environment the forces occurring during the wrapping process in the rotational-arm winding device, preferably by means of a standing foot having multiple legs and being connectable fixedly to the environment.

By the provision of a second mast, which performs the pivotal movement, the main mast of the frame can be made solid and heavy and can be connected fixedly to the environment of the packing station. The main mast can be screwed, for example, to a floor of a hall. In this case, the main mast of the frame absorbs the forces implicitly, and forwards same to the environment.

In particular, the foot element is arranged and configured such that the center of gravity of the pivotal movement is closer to the environment.

The closer the center of gravity is orientated relative to the floor of the hall, the less the winding device begins to swing during the wrapping process. Therefore, the weights of the rotational-arm winding device are preferably distributed and coordinated such that the center of gravity is likely closer to the environment than being arranged remotely.

In this context, it has proven as an advantage if, for example, a pivotal drive of the pivotal arm is mounted to the foot element.

The frame can be movable, as an alternative to the pivotal arm, by means of a frame drive on a guiding rail, wherein the guiding rail and the frame drive are suitable to absorb the forces.

There are vendors specialized on guiding rails which allow movement of the rotational-arm winding device thereon and which are suitable for absorbing the forces. However, such rails are relatively expensive. The running meter can cost up to EUR 30,000,00. Then, the winding device is moved into the action space of the packing robot, for example, by means of a linear drive if the packing robot has completed the loading of the load carrier.

Another alternative allows arranging the frame stationary relative to the packing robot and providing a guiding unit (e.g. a boom), along which guiding unit a crab can travel moving the rotational-arm winding device, which is connected to the crab, over the stack into the action space and out of the action space again.

In this case, the frame is preferably formed in terms of a gantry having two legs, wherein the gantry is arranged in parallel to the conveyor which conveys the load carriers to and from the packing position. The gantry-like frame is then connected to a horizontal transverse beam along which transverse beam the crab can be moved into the action space transversally relative to the conveying direction of the conveyor. In this case, the crab in turn is connected to the rotational-arm winding device so that the winding head can circulate around the pallet which is to be wrapped.

Further, it is preferred to additionally provide a load-carrier conveyor.

By means of the load-carrier conveyor empty or partially packed load carriers can be conveyed to the fixedly predefined packing and wrapping position and completely wrapped load carriers can be conveyed away therefrom.

Additionally it is preferred, if the rotational-arm winding device is sized such that a distance between the stack and the rotational arm as well as the winding head is as small as possible.

The closer the path of the winding head during one wrapping process is relative to the load carrier, the smaller the vibrations will be, which act on the winding head. This in turn reduces the need of space of the rotational-arm winding device.

The above-mentioned object is further solved by a method for automated loading a load carrier with piece goods forming, in a loaded state of the load carrier, a stack, and for wrapping the stack with a foil at a packing station, which is formed preferably in accordance with any of the proceeding claims, wherein the method comprises the following steps: feeding a load carrier, which is to be loaded, to a fixedly predefined packing position; feeding of piece goods, preferably in a sequenced order, into an action space of a packing robot which receives the fed piece goods, transfers the piece goods and puts the piece goods on the to-be-loaded load carrier in accordance with a predefined packing pattern until all of the required piece goods have been loaded to the load carrier and form the stack; pivoting a rotational-arm winding device which is arranged adjacent to the packing robot from a rest position outside of the action space of the packing robot to a winding position which is arranged at least partially within the action space of the packing robot so that the stack can be wrapped with the foil; wrapping the stack with the foil by rotating a winding head, which is mounted to a rotational arm in a height-adjustable manner, around the stack; and transporting away the load carrier holding the stack which is completely wrapped.

BRIEF DESCRIPTION OF THE DRAWINGS

It is clear that the above-mentioned and still to be explained features cannot only be applied in the respectively given combination but also in other combinations or alone without departing from the scope of the present invention.

Embodiments of the invention are illustrated in drawings and will be described below in further detail, wherein:

FIG. 1 shows a side view of a rotational-arm winding device in accordance with the present invention;

FIG. 2 shows two rotational-arm winding devices in accordance with the present invention in a rest position;

FIG. 3 shows the schematically illustrated rotational-arm winding device of FIG. 2 in a winding position;

FIG. 4 shows a schematic view of a (double) packing station in accordance with the present invention being arranged adjacent to additional packing stations; and

FIG. 5 shows a flow chart of a method in accordance with the present invention.

PREFERRED EMBODIMENTS OF THE INVENTION

During the subsequent description of the figures like elements will be designated with like reference numerals. Similar elements are provided with similar reference numerals. Modified features will be referred to explicitly.

FIG. 1 shows a side view of a first embodiment of a rotational-arm winding device 10 (hereinafter also designated as winding device 10).

The winding device comprises a (machine) frame 12 having a main mast 14, preferably with one leg, and a foot element 16 forming a standing foot 17 of the frame 12. In the present example of FIG. 1 the foot element 16 is screwed fixedly, for example, to a floor of a hall and comprises a high weight for keeping the center of gravity of the winding device 10 as close as possible to the floor of the hall.

It is clear that the machine frame 12 can also be mounted to a wall, a ceiling or a working platform, dependent on a customer's desire.

The winding device 10 further comprises a rotatably-supported pivotal arm 18 which in turn comprises a rotational arm 20 being supported rotationally by the pivotal arm 18. The pivotal arm 18 is supported rotatably around a axis of rotation 22 as indicated by means of an arrow 24. The rotational arm 20 can be rotated around an axis of rotation 26 as indicated by means of an arrow 28.

The pivotal arm 18 can comprise a rotatably supported pivotal mast 30 which is supported in an upper or lower area of the main mast 14. Further, the pivotal arm 18 comprises a pivotal boom 32 being connected fixedly to the pivotal mast 30. The pivotal mast 30 substantially extends in an axial direction A which is oriented vertically in the present case. The pivotal boom 32 substantially extends in a radial direction R which is oriented horizontally in the present case. The axial direction A and the radial direction R are exemplarily indicated by means of arrows in FIG. 2.

A rotational drive 34 of the rotational arm 20 is fixed to the pivotal boom 32, preferably in a region of an end of the pivotal boom 32 which is radially outside and which is arranged oppositely to the end being connected fixedly to the pivotal mast 30. The rotational drive 34 is oriented preferably in parallel to the axis of rotation 26 and effectively communicates with the rotational arm 20.

The rotatably supported pivotal mast 30, which extends substantially parallel relative to the main mast 14, is pivoted around the pivotal axis 22 in accordance with the arrow 24 by means of the pivotal drive 34. For this purpose, the pivotal mast 30 can be connected to a (double) gear 38 and the pivotal drive 34 can be connected to a (double) gear 40, which in turn are connected to each other via a (double) chain which is not depicted here. The double embodiment of the gears 38 and 40 is caused by the great forces occurring during the wrapping of a load carrier (Europool pallet, rolling container, etc.). Typically, load carriers of one size are wrapped which are suitable for shipping piece goods to branch offices such as branch offices of food retailers. Such load carriers can respectively weigh several hundred kilos including the loading so that wrapping needs to be carried out at relatively great forces.

The rotational arm 20 comprises a support element 42, which in the present case is exemplarily orientated horizontally and which is connected to a rotational mast 44 being orientated vertically. A winding head 46 is supported in a height-adjustable manner (compare arrow 48) along the rotational mast 44. The structure of the winding head 46 is commonly known. The winding head 46 should be capable of at least 20 windings each minute. Widths of the foil coils of up to 500 mm and more at a coil thickness of up to 270 mm is not uncommon. The foil strength can be in a range of 15 to 35 μm. Biaxially-orientated blow foils such as “Cobrax HP®” can be used as foils. In this context, the support element 42 floats “freely” above the load carrier which is to be wrapped. The winding head 46 can have integrated a stretch system allowing foil stretchings of 200% without any problem.

Beside the circularly-rotating rotational arm 20, the pivotal mast 30 is fixedly connected to a jib 50 which is substantially orientated in a horizontal direction and which can comprise, at a distal end thereof, a welding unit 52 which does not rotate together with the rotational arm 20. The welding unit 52 can be equipped with a foil-catching device, a foil grab and/or a welding tongue for separating the foil after a completed wrapping of the load carrier, from the foil coil (not shown in FIG. 1) and for securing same safely on the load carrier (e.g. by means of welding).

In the present example of FIG. 1, a Europool pallet 53 is exemplarily used as load carrier 78. A packing robot, which is not depicted in the present case, has packed several piece goods 54, which can have different dimensions, on top of each other to form a stack 56. The Europool pallet 53 can be transported to the winding device 10 by means of a conveyor 58 (such as a chain conveyor, roller conveyor, belt conveyor, etc.). The conveyor 58 is set up, for example, on the floor of the hall representing one environment 60 of the winding device 10.

The winding device 10 is shown in a winding position 62 in FIG. 1. In the winding position 62 the pivotal arm 18 is pivoted over the conveyor 58 for allowing the rotational arm 20 circulating around the stack 56 on the load carrier 78. The winding head 46 carries out movements in the vertical direction during the circular movement, as indicated by means of the arrow 48 (in a height-adjustable manner).

If the pivotal arm 18, and thus also the rotational arm 20, are not in the winding position 62, the pivotal arm 18 and the boom 32 can be retained at the main mast 14 by means of a stopper 64.

The position of the rotational arm 20 relative to the boom 32 can be detected, for example, by means of a switching tab 66 which is arranged, in the present example, at an outer end of the support element 42 and in a central region of the boom 32.

The pivotal mast 30 is connected rotatably at its outer ends to the main mast 14 by means of (in the present case four-holes) flange bearings 68 due to the high forces occurring.

With reference to FIG. 2 the winding device 10 of FIG. 1 is shown in a schematic perspective view in terms of a double-winding device 70. The double-winding device 70 comprises a first winding device 10-1 and a second winding device 10-2, which are illustrated simplified in comparison to the winding device 10 of FIG. 1 by omitting the pivotal mast 30 so that the main masts 14 are rotated around the axes of rotation 22. This different illustration has only be chosen for the sake of a simplified illustration.

In FIG. 2 it can be recognized that two winding devices 10-1 and 10-2 are arranged directly adjacent in an extremely tight space for allowing serving a first load-carrier conveyor 72-1 and a second load-carrier conveyor 72-2. The conveyors 72 are exemplarily realized in terms of roller lines 74. The winding devices 10-1 and 10-2 are in their respective rest positions 76-1 and 76-2 so that empty load carriers 78 can be transported without problems via the conveyors 72 for being loaded with piece goods 54 by means of a packing robot which is also not depicted here. As soon as the loading is completed, the winding devices 10-1 and 10-2 can be pivoted over the conveyors 72 for wrapping the packed load carrier with the foil.

This is exemplarily shown in the perspective illustration of FIG. 3, wherein the winding devices 10-1 and 10-2 of FIG. 2 are additionally shown in a simplified manner.

In FIG. 3 it can be recognized that the load carriers 78 are respectively packed completely with the piece goods 54, thereby forming one stack 56. The load carriers 78 are arranged at respectively fixedly predefined packing positions 80-1 and 80-2 which can be reached by the packing robot without problems which again is not depicted. The packing positions 80 are arranged within an action space of the packing robot, as will be explained in more detail below with reference to FIG. 4.

In FIG. 3 the winding devices 10-1 and 10-2 are in their winding positions 62-1 and 62-2. In this case, the boom 32 is pivoted over the load carriers 78, namely such that the rotational arm 20-1 or 20-2 can rotate freely on a circular path around the stack 56. The winding head 46 is adjusted in height during the circular travel for guiding the foil around the entire stack 56, and if necessary also around the load carrier 78.

The double-winding device 70 has performed a rotational movement around the pivotal axis 82 about 90° in comparison to FIG. 2, wherein the pivotal axis 82 merely serves for simplifying the explanation and actually is not present.

The movement of the rotational arm 20 is indicated at the right-hand side of FIG. 3 in terms of a circular winding movement 84 by means of a double arrow. Left-hand side of FIG. 3 shows two distances 85-1 and 85-2. The distance 85-1 extends between the support element 42 and a top side of the stack 56 in a vertical direction. The second distance 85-2 extends in a horizontal direction between the rotational mast 44, or the winding head 46, and an outer surface along a circumferential direction of the stack 56. The movement of the rotational arm 20 around the stack 56 occurs ideally on a circular path. The diameter of the circular path (e.g., 260 cm) is chosen ideally in this case such that the diameter surrounds a base area of the load carrier 78 (e.g., 120×80 cm) just so that a required tolerance is maintained, thereby avoiding collision of the winding head 46 with the stack 56.

In order to be able to increase the rotational velocity of the rotational arm 20 it is necessary to avoid vibrations of the entire device. The frame 12 is configured extremely torsionally rigid. The diameter and materials of the frame 12, the pivotal arm 18 as well as the rotational arm 20 are correspondingly selected and sized.

Respectively two winding devices 10 are shown between the neighbouring packing stations 80 in FIGS. 2 and 3. It is clear that also only one winding device 10 can be provided which serves a plurality of packing stations. In the example of FIGS. 2 and 3 one winding device 10 can be used, by pivoting about 180°, also directly for wrapping at the other packing station 80. The pivotal area can also have 360°. In this manner, also redundancy can be provided. If one of the devices 10 of the FIGS. 2 and 3 fails, the other can take over the tasks.

With reference to FIG. 4 a (double) packing station 86 in accordance with the present invention is perspectively shown in schematic terms.

In this case, the double-winding device 70 of FIG. 4, for the purpose of simplification, is merely shown in terms of rectangular prisms 70-1 and 70-2. It can be recognized that several packing positions 80 are arranged in parallel side-by-side. Two packing positions 80-1 and 80-2 are exemplarily shown which in the present case are preferably served by one single packing robot 88 such as an articulated-arm robot 90 which can also be used in a low-temperature area. It is clear that the packing robot 88 can also be implemented in terms of a gantry robot, or can serve only one single station 80. The packing robot 88 defines an action space 92 around the packing robot 88. Within the action space 92 no objects are allowed to be present during the loading process, hence even not the rotational-arm winding devices 10 or the double-winding devices 70.

The packing robot 88 and the rotational-arm winding device 10 are generally provided separately and are operated as separate units.

In FIG. 4 it can be recognized clearly that the winding devices 70 are arranged outside the action space 92, wherein a distance to the action space 92 is selected as small as possible. If the articulated-arm robot 90 has completed one loading process at one side (e.g. at 80-1), the articulated-arm robot 90 is moved to the opposite packing station (e.g., 80-2) or travels to the rest position thereof so that the winding devices 10 or 70 are allowed entering the action space 92 or parts thereof, where the robot 88 is presently not working. For this purpose, the double-winding devices 70-1 and 70-2, which are illustrated schematically, are rotated into the action space 92 about the rotational axis 82-1 or 82-2, as exemplarily shown in FIG. 3. It is clear that the winding devices 10 of one double-winding device 70 can be moved independently from each other, i.e. in a non-synchronous manner. One or more (e.g. also four) packing stations 80 can be served by each of the robots 88 within one action space 92. In case of a multiple-packing station, the robot should never rest, if possible, as long as articles are fed for packing.

In FIG. 4 a piece-good conveyor 94 is also exemplarily shown beside the load-carrier conveyor 72, the piece-good conveyor 94 supplying the packing robot 98 with the piece goods 54 for loading them on the load carrier 78. In this case, the load carriers 78 are fed from behind to the packing positions 80 in FIG. 4, and are discharged to the front.

FIG. 5 shows a flow chart of a method 100 for automated loading a load carrier 78 with piece goods 54 which, in a loaded state of the load carrier 78, form a stack 56, and for wrapping the stack 56 with a foil at a packing station 86 as described in accordance with the above-described embodiments.

In a step 102 load carriers 78, which are to be loaded, are guided to a fixedly predefined packing position 80, preferably by means of a conveyor 72. In a step 104, piece goods 54 are introduced, preferably in a sequenced order, via preferably conveyors 94 into an action space 92 of a packing robot 88 which takes, transfers and puts the piece goods 54 on the to-be-loaded load carrier 78 in accordance with a predefined packing pattern. The packing pattern is calculated in advance by means of a super-ordinated control device having suitable packing software (not shown). The control device can be implemented by a material-flow computer, a warehouse-management computer, a PLC or the like.

The control device also coordinates the movements of the conveyors 72 and 94 as well as the movements of the winding device 10, in particular the moving in and out of the winding device(s) 10 in or out of the action space 92 of the packing robot 88.

In a step 106 the rotational-arm winding device 10 is moved from a rest position 76 outside the action space 92 of the packing robot 88 into a winding position 62, which is arranged at least partially within the action space 92 of the packing robot 88 so that the stack 56 can be wrapped with the foil.

In a step 108, the stack 56 is wrapped with the foil by rotating the winding head 46, which is mounted in a height-adjustable manner 48 to the rotational arm 20, around the stack 56. In a step 110 the completely wrapped-load carrier 78 is transported away.

It is clear that a packing station 86 as exemplarily shown in FIG. 4 can also consist of only one packing robot 88 and one rotational-arm winding device 10, a described above, which are arranged such that moving-in and moving-out at least of the rotational arm 20 in or out of the action space 92 is possible. 

Therefore, what we claim is:
 1. An automated packing station for automated loading of load carriers with piece goods which, in a loaded state of the load carrier, form a stack thereon, and for automated wrapping the stack with a foil, comprising: a fixedly arranged packing robot serving a fixedly predefined packing position, which is configured to load the load carrier at the fixedly predefined packing position with the piece goods, and which packing robot has an environment and an action space in which the packing robot acts during the loading, wherein the action space is free from other objects in order not to disrupt automated loading movements of the packing robot; and a rotational-arm winding device comprising a driven rotational arm, a rotational mast and a winding head and being arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil and to forward the forces to the environment of the packing station and on which frame the driven rotational arm is supported rotatably such that the winding head, which is connected rotatably to the rotational arm and can be adjusted vertically on the rotational mast, rotates on a circular path in a height-adjustable manner around the stack which rests at the fixedly predefined packing position after the loading is completed; and a load-carrier conveyor for conveying empty or partially packed ones of the load carriers to the fixedly predefined packing position and for conveying the load carriers, holding wrapped stacks, away from the fixedly predefined packing position; wherein the rotational-arm winding device is supported movably between a rest position outside of the action space and a winding position within the action space, and wherein the frame is arranged stationary relative to the packing robot and comprises a stationary main mast and a pivotal arm which is supported rotatably on the stationary main mast, the stationary main mast having one leg, wherein the rotational arm is supported rotatably in the pivotal arm, wherein the pivotal arm is pivotable from a first position outside of the action space to a second position within the action space.
 2. The automated packing station of claim 1 further comprising a piece-good conveyor which is configured to fed the piece goods to the packing robot.
 3. The automated packing station of claim 1, wherein the pivotal arm comprises a pivotal boom, which is substantially orientated radially, and a pivotal mast, which is substantially orientated axially, wherein the pivotal mast is orientated parallel to the stationary main mast, and wherein the stationary main mast comprises a foot element which is adapted to be connected fixedly to the environment of the packing station and to forward the forces, which occur in the rotational-arm winding device during the wrapping.
 4. The automated packing station of claim 3, wherein the forces are forwarded by means of a standing foot which is connected fixedly to the environment and is multi-legged.
 5. The automated packing station of claim 3, wherein the foot element is arranged and configured such that a center of gravity of the rotational-arm winding device is closer to the environment.
 6. The automated packing station of claim 3, wherein the pivotal arm further comprises a pivotal drive which is mounted to the foot element.
 7. The packing station of claim 1, wherein the frame is drivable on a guiding rail by means of a frame drive, wherein the guiding rail and the frame drive are suitable to absorb the forces.
 8. The packing station of claim 1, wherein the frame is arranged stationary relative to the packing robot and comprises a guiding unit along which guiding unit a crab is movable, which is configured to move the rotational-arm winding device, which is connected to the crab, over the stack into the action space and to retract the rotational-arm winding device therefrom.
 9. The automated packing station of claim 1, wherein the rotational-arm winding device is sized such that a distance between the stack and the rotational arm and the winding head is as small as possible.
 10. The automated packing station of claim 1, wherein the packing robot is an articulated-arm robot.
 11. The automated packing station of claim 1, wherein the packing robot and the rotational-arm winding device are provided separately to each other and represent units acting independent from each other.
 12. An automated packing station for automated loading of load carriers with piece goods which, in a loaded state of the load carrier, form a stack thereon, and for automated wrapping the stack with a foil, comprising: a fixedly arranged packing robot serving a fixedly predefined packing position, which is configured to load the load carrier at the fixedly predefined packing position with the piece goods, and which packing robot has an environment and an action space in which the packing robot acts during the loading, wherein the action space is free from other objects in order not to disrupt automated loading movements of the packing robot; and a rotational-arm winding device comprising a driven rotational arm, a rotational mast and a winding head and being arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil and to forward the forces to the environment of the packing station and on which frame the driven rotational arm is supported rotatably such that the winding head, which is connected rotatably to the rotational arm and can be adjusted vertically on the rotational mast, rotates on a circular path in a height-adjustable manner around the stack which rests at the fixedly predefined packing position after the loading is completed; wherein the rotational-arm winding device is supported movably between a rest position outside of the action space and a winding position within the action space.
 13. The automated packing station of claim 12, wherein the frame is arranged stationary relative to the packing robot and comprises a stationary main mast and a pivotal arm which is supported rotatably on the stationary main mast, the stationary main mast having one leg, wherein the rotational arm is supported rotatably in the pivotal arm, wherein the pivotal arm is pivotable from a first position outside of the action space to a second position within the action space.
 14. The automated packing station of claim 13, wherein the pivotal arm comprises a pivotal boom, which is substantially orientated radially, and a pivotal mast, which is substantially orientated axially, wherein the pivotal mast is orientated parallel to the stationary main mast, and wherein the stationary main mast comprises a foot element which is adapted to be connected fixedly to the environment of the packing station and to forward the forces, which occur in the rotational-arm winding device during the wrapping.
 15. The automated packing station of claim 14, wherein the forces are forwarded by means of a standing foot which is connected fixedly to the environment and is multi-legged.
 16. The automated packing station of claim 14, wherein the foot element is arranged and configured such that a center of gravity of the rotational-arm winding device is closer to the environment.
 17. The automated packing station of claim 14, wherein the pivotal arm further comprises a pivotal drive which is mounted to the foot element.
 18. The packing station of claim 12, wherein the frame is drivable on a guiding rail by means of a frame drive, wherein the guiding rail and the frame drive are suitable to absorb the forces.
 19. The packing station of claim 12, wherein the frame is arranged stationary relative to the packing robot and comprises a guiding unit along which guiding unit a crab is movable, which is configured to move the rotational-arm winding device, which is connected to the crab, over the stack into the action space and to retract the rotational-arm winding device therefrom.
 20. The automated packing station of claim 12, further comprising a load-carrier conveyor for conveying empty or partially packed ones of the load carriers to the fixedly predefined packing position and for conveying the load carriers, holding wrapped stacks, away from the fixedly predefined packing position.
 21. The automated packing station of claim 12, wherein the packing robot is an articulated-arm robot.
 22. The automated packing station of claim 12, wherein the packing robot and the rotational-arm winding device are provided separately to each other and represent units acting independent from each other.
 23. A method for automated loading a load carrier with piece goods forming, in a loaded state of the load carrier, a stack (56), and for wrapping the stack with a foil at a packing station which comprises: a fixedly arranged packing robot serving a fixedly predefined packing position, which is configured to load the load carrier at the fixedly predefined packing position with the piece goods, and which packing robot has an environment and an action space in which the packing robot acts during the loading, wherein the action space is free from other objects in order not to disrupt automated loading movements of the packing robot; and a rotational-arm winding device comprising a driven rotational arm, a rotational mast and a winding head and being arranged adjacent to the packing robot and comprising a frame which is adapted to absorb forces which occur during the wrapping of the stack with the foil and to forward the forces to the environment of the packing station and on which frame the driven rotational arm is supported rotatably such that the winding head, which is connected rotatably to the rotational arm and can be adjusted vertically on the rotational mast, rotates on a circular path in a height-adjustable manner around the stack which rests at the fixedly predefined packing position after the loading is completed; wherein the rotational-arm winding device is supported movably between a rest position outside of the action space and a winding position within the action space; and wherein the method comprises the following steps: feeding the load carrier, which is to be loaded, to the fixedly predefined packing position; feeding the piece goods into the action space of the packing robot which receives the fed piece goods, transfers the piece goods and puts the piece goods on the to-be-loaded load carrier in accordance with a predefined packing pattern until all of the required piece goods have been loaded to the load carrier and form the stack; pivoting the rotational-arm winding device from the rest position outside the action space of the packing robot to the winding position which is arranged at least partially within the action space of the packing robot so that the stack is wrapable with the foil; wrapping the stack with the foil by rotating the winding head, which is mounted to the rotational arm in a height-adjustable manner, around the stack; and transporting away the load carrier holding the stack which is completely wrapped. 